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Hierarchical Decomposition Example: RoboCup Concluding Remarks

Multi-vehicle Cooperative Control Raffaello D’Andrea Mechanical & Aerospace Engineering Cornell University. Hierarchical Decomposition Example: RoboCup Concluding Remarks. OUTLINE. Hierarchical Decomposition. Objective: Develop hierarchy-based tools for designing

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Hierarchical Decomposition Example: RoboCup Concluding Remarks

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  1. Multi-vehicle Cooperative ControlRaffaello D’AndreaMechanical & Aerospace Engineering Cornell University • Hierarchical Decomposition • Example: RoboCup • Concluding Remarks OUTLINE

  2. Hierarchical Decomposition Objective: Develop hierarchy-based tools for designing complex, multi-asset systems in uncertain and adversarial environments MAIN IDEAS: • System level decomposition • Bottom up design • Simplification of models via relaxations and reduction • Propagation of uncertainty to higher levels • Adoption of heuristics, coupled with verification

  3. Example: RoboCup • International competition: cooperation, adversaries, uncertainty • 1997: Nagoya Carnegie Mellon • 1998: Paris Carnegie Mellon • 1999: Stockholm Cornell • 2000: Melbourne Cornell • 2001: Seattle • Involvement • Universities, Research Labs, Companies Cornell

  4. Example

  5. Competition Highlights (1999)

  6. ROBOT ROBOT K K System Level Decomposition Wheel velocity INTELLIGENCE AND CONTROL

  7. ROBOT K Bottom Up Design Relaxation and Simplified Dynamics: RobustControl Design Restrict possible motions, design low level systemto behave like simplified dynamical model

  8. Mid-Level Control Trajectory Primitives: minimum time, minimum energy minimum time minimum time

  9. Intelligence and Control DESIRED FINAL POSITIONS ANDVELOCITIES, TIME TO TARGET DESIRED VELOCITIES STRATEGY TRAJECTORYGENERATION LOCALCONTROL FEASIBILITY OF REQUESTS • Current design: • finite state machine • Obstacle avoidance: Frazzoli, Feron, Dahleh • no adaptation • no formal methods

  10. BACK-PASS PASS-PLAY

  11. Example: Goalie

  12. Formation Flight Testbed Use upwash created by neighbouring craft to provide extra lift MOTIVATION • “satellite” type of applications(Wolfe, Chichka and Speyer ‘96) • MAVs and UAVs, extend range

  13. Formation Flight test bed • 5 wings in low speed wind tunnel • roll and translation along y axis

  14. Concluding Remarks Relaxation, Restriction 1 PERFORMANCE COMPLEXITY

  15. Robust Control Design Hierarchical Design ...

  16. Current Activities • Propagation of uncertainy/mismatch • Randomized Algorithms for planning (MIT) • Game Theoretic tools (delayed information) • Verification • Human in the loop • New test-beds

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